Search Results (486)

Pavement skid resistance is of vital importance for road safety. The objective of this study is to propose and validate a texture-based image indicator to predict pavement friction. This index enables pavement friction to be predicted easily and inexpensively using digital images, with predictions correlated to Dynamic Friction Tester (DFT) measurements. Three different types of asphalt surfaces (Dense-Grade Asphalt Concrete, Open-Grade Friction Course, and Chip Seal) were evaluated subject to various tire polishing cycles. Images were taken with corresponding friction coefficients obtained using DFT in the laboratory. The aggregate protrusion area is proposed as the indicator. Statistical models are established for each asphalt surface type to correlate the proposed indicator with friction coefficients. The results show that the adjusted R-squared values of all relationships are above 0.90. Compared to other image-based indicators in the literature, the proposed image indicator more accurately reflects the changes in pavement friction with the number of polishing cycles, proving its cost-effective use for considering pavement friction in the mix design stage. Full article

The design and optimization of drive distribution strategies are critical for enhancing the performance of Formula Student electric racing cars, which face demanding operational conditions such as rapid acceleration, tight cornering, and variable track surfaces. Given the increasing complexity of racing environments and the need for adaptive control solutions, a multi-mode adaptive drive distribution strategy for four-wheel-drive Formula Student electric racing cars is proposed in this study to meet specialized operational demands. Based on the dynamic characteristics of standardized test scenarios (e.g., straight-line acceleration and figure-eight loop), two control modes are designed: slip-ratio-based anti-slip control for longitudinal dynamics and direct yaw moment control for lateral stability. A CarSim–Simulink co-simulation platform is established, with test scenarios conforming to competition standards, including variable road adhesion coefficients (μ is 0.3–0.9) and composite curves. Simulation results indicate that, compared to conventional PID control, the proposed strategy reduces the peak slip ratio to the optimal range of 18% during acceleration and enhances lateral stability in the figure-eight loop, maintaining the sideslip angle around −0.3°. These findings demonstrate the potential for significant improvements in both performance and safety, offering a scalable framework for future developments in racing vehicle control systems. Full article

Optimisation of the anti-skid properties of tyres is a significant area of composite applications. For investigating the wet slip friction characteristics, the wet slip friction test of tread rubber and road surface was carried out using the comprehensive tire friction testing machine. The wet slip properties of different formulated rubbers under various working conditions such as different slip speeds, water film thicknesses and vertical loads were compared through the test. Subsequently, an orthogonal test programme was designed to investigate the degree of significant influence of each factor on the wet slip performance. A three-dimensional finite element model of tread rubber and road surface with water film was established in order to facilitate analysis of the wet slip properties. The simulation results were utilised to elucidate the pattern of the effects of different loads on the wet slip friction characteristics. Results indicate that the wet slip friction coefficient is subject to decrease in proportion to the magnitude of the vertical load; the friction coefficient of rubber block in wet slip condition exhibits a decline of approximately 26% in comparison with that of dry condition; the factor that exerts the most significant influence on the coefficient of friction is the vertical load, while the water film thickness exerts the least influence. The results obtained can serve as a reference source for the design of tire anti-skid performance enhancement. Full article

This article presents the development, integration, and experimental validation of a modular microgrid for sustainable hydrogen production, addressing global electricity demand and environmental challenges. The system was designed for initial validation in a thermoelectric power plant environment, with scalability to other applications. Centered on a six-compartment skid, it integrates photovoltaic generation, battery storage, and a liquefied petroleum gas generator to emulate typical cogeneration conditions, together with a high-purity proton exchange membrane electrolyzer. A supervisory control module ensures real-time monitoring and energy flow management, following international safety standards. The study also explores the incorporation of blockchain technology to certify the renewable origin of hydrogen, enhancing traceability and transparency in the green hydrogen market. The experimental results confirm the system’s technical feasibility, demonstrating stable hydrogen production, efficient energy management, and islanded-mode operation with preserved grid stability. These findings highlight the strategic role of hydrogen as an energy vector in the transition to a cleaner energy matrix and support the proposed architecture as a replicable model for industrial facilities seeking to combine hydrogen production with advanced microgrid technologies. Future work will address large-scale validation and performance optimization, including advanced energy management algorithms to ensure economic viability and sustainability in diverse industrial contexts. Full article

Compound steering technology has been extensively adopted in military logistics and related applications, owing to its superior maneuverability and enhanced stability compared to conventional systems. To enhance the steering efficiency and dynamic response of distributed-drive unmanned platforms under low driving torque conditions, this study investigates their unique compound steering system. Specifically, a compound steering dynamics model is established, and a hierarchical stability control strategy, along with a model predictive control-based trajectory tracking algorithm, are innovatively proposed. First, a compound steering platform dynamics model is established by combining the Ackermann steering and skid yaw moment methods. Then, a trajectory tracking controller is designed using model predictive control algorithm. Finally, the additional yaw moment is calculated based on the lateral velocity error and yaw rate error, with stability control allocation performed using a fuzzy control algorithm. Comparative hardware-in-the-loop experiments are conducted for compound steering, Ackermann steering, and skid steering. The experimental results show that the compound steering technology enables unmanned platforms to achieve trajectory tracking tasks with a lower torque, faster speed, and higher efficiency. Full article

This study aimed to evaluate the effects of varying traffic intensities, the time since harvesting, and the interaction between these two factors on the restoration of herbaceous cover on skid trails in the Hyrcanian forests, Northern Iran. Three compartments were selected from two districts within the pure oriental beech (Fagus orientalis Lipsky) stands of Kheyrud Forest, where ground-based timber extraction had occurred 5, 10, and 15 years prior. In each compartment, three skid trails representing low, medium, and high traffic intensities were identified. Control plots were established 10 m away from the trails. A total of 54 systematically selected 1 m × 1 m sample plots were surveyed: 27 on skid trails (three traffic intensities × three time intervals × three replicates) and 27 control plots (matching the same variables). Within each quadrat, all herbaceous plants were counted, identified, and recorded. Our findings revealed that only traffic intensity had a clear significant impact on plant abundance. High traffic intensity led to a pronounced decline in herbaceous cover, with disturbed skid trails showing reduced species diversity or the complete disappearance of certain species in comparison to the control plots. Time since harvesting and its interaction with traffic intensity did not yield statistically significant effects. Disturbance led to a reduction in the quantities of certain species or even their disappearance on skid trails in comparison to the control plots. Given the pivotal role of machinery traffic intensity in determining mitigation strategies, there is a critical need for research on region-specific harvesting techniques and the development of adaptive management strategies that minimize ecological impacts by aligning practices with varying levels of traffic intensity. Full article

The permeability of porous asphalt pavements is a critical skid resistance indicator that directly influences driving safety on wet roads. To ensure permeability (water infiltration capacity), it is necessary to assess the degree of clogging in the pavement. This study proposes a permeability evaluation model for porous asphalt pavements based on 3D laser imaging and deep learning. The model utilizes a 3D laser scanner to capture the surface texture of the pavement, a pavement infiltration tester to measure the permeability coefficient, and a deep residual network (ResNet) to train the collected data. The aim is to explore the relationship between the 3D surface texture of porous asphalt and its permeability performance. The results demonstrate that the proposed algorithm can quickly and accurately identify the permeability of the pavement without causing damage, achieving an accuracy and F1-score of up to 90.36% and 90.33%, respectively. This indicates a significant correlation between surface texture and permeability, which could promote advancements in pavement permeability technology. Full article

This paper presents a mobile robotic system designed for autonomous navigation and forest and tree trait estimation, with a focus on the location of individual trees and the diameter of the trunks. The system integrates light detection and ranging data and images using a framework based on simultaneous localization and mapping (SLAM) and a deep learning model for trunk segmentation and tree keypoint detection. Field experiments conducted in a wooded area in Udine, Italy, using a skid-steered mobile robot, demonstrate the effectiveness of the system in navigating, while avoiding obstacles (even in cases where the Global Navigation Satellite System signal is not reliable). The results highlight that the proposed robotic system is capable of autonomously generating maps of forests as point clouds with minimal drift thanks to the loop closure strategy integrated in the SLAM algorithm, and estimating tree traits automatically. Full article

Pavement surface texture significantly affects its skid resistance. To characterize pavement surface texture and analyze its correlation with skid resistance, this paper proposes a novel three-dimensional (3D) texture evaluation index: mean texture surface area density (MTSAD). First, field tests were conducted on Chengdu Greenway pavement using a portable laser scanner to collect high-precision texture data, while a pendulum friction tester was employed to measure the British Pendulum Number (BPN). Subsequently, digital image processing technology was employed for the 3D reconstruction of pavement texture. Leveraging the high-resolution data characteristics and incorporating the concept of infinite subdivision, an innovative method for calculating the pavement texture surface area was developed, ultimately yielding the MTSAD. Finally, polynomial regression analysis was performed to examine the correlation between MTSAD and BPN, revealing a coefficient of determination (R²) of 0.8302. The results demonstrate a close relationship between MTSAD and pavement friction, while proving that texture indices that are easy to promote can be obtained through high-precision 3D point cloud images, and validating the potential of non-contact texture measurement as a viable alternative to conventional contact-based friction testing methods. Full article

Extreme events such as tropical cyclones frequently occur in coastal areas in China. With high wind speeds and rainfall during such extreme events, the vehicles on sea-crossing bridges may face severe instability problems. In this study, the dynamics of vehicles on a cross-sea bridge under the wind–rain coupling effect were analyzed based on field measurement data using computational fluid dynamics (CFD). Wind field parameters of the coastal area in China were obtained using wind speed data from measurement towers. Based on CFD, the sliding grid method was applied to establish an aerodynamic analysis model of a container truck moving on a bridge under wind and rain conditions. The discrete phase model based on the Euler–Lagrange method was used to investigate the influence of rain and obtain the aerodynamic characteristics of the truck under the coupled wind and rain effects. Based on the computational analysis results, considering the turbulence intensity, the yaw angle peaks of the tractor and trailer increased by 5.2% and 3.8%, respectively, and the lateral displacement of the truck’s center of mass increased by 9.8%. Rainfall may cause the vehicle to have a higher response, resulting in a high risk of skidding. The results show that skidding occurs for the considered container truck when rainfall is at 9.8%. These results can provide parameters for traffic control strategies under such extreme climate events in coastal areas. Full article

The application of superhydrophobic (SH) coatings in road construction has attracted growing attention due to their potential to improve surface durability, reduce cracking, and enhance skid resistance. Among various materials, SiO₂ nanoparticles have emerged as key components in SH coatings by contributing essential surface roughness and hydrophobicity. This review paper analyzes the role of SiO₂ nanoparticles in enhancing the water-repellent properties of coatings applied to road surfaces, particularly concrete and asphalt. Emphasis is placed on their influence on road longevity, reduced maintenance, and overall performance under adverse weather conditions. Furthermore, this review compares functionalization techniques for SiO₂ using different hydrophobic modifiers, evaluating their efficiency, cost effectiveness, and scalability for large-scale infrastructure. In addition to highlighting recent advancements, this study discusses persistent challenges—including environmental compatibility, mechanical wear, and long-term durability—that must be addressed for practical implementation. By offering a critical assessment of current approaches and future prospects, this short review aims to guide the development of robust, high-performance SH coatings for sustainable road construction. Full article

Bilateral teleoperation of skid-steering mobile robots with time-varying delays presents significant challenges in ensuring accurate leader–follower coupling. This article presents a novel controller for a bilateral teleoperation system composed of a robot manipulator and a skid-steering mobile robot. The proposed controller leverages neural networks to compensate for ground–robot interactions, uncertain dynamics, and communication delays. The control strategy integrates a shared scheme between damping injection and two neural networks, enhancing the robustness and adaptability of the delayed system. A rigorous theoretical analysis of the closed-loop teleoperation system is provided, establishing conditions of control parameters to ensure stability and convergence of the coordination errors. The proposed method is validated through numerical testing, demonstrating strong agreement between theoretical outcomes and simulation results. Full article

Accelerating the recovery of compacted soils caused by logging machinery using bioengineering techniques is a key goal of Sustainable Forest Management. This research was conducted on an abandoned skid trail with a uniform 15% slope and a history of heavy traffic, located in the Nav forest compartment of northern Iran. The main objectives were to assess (a) soil physical properties 35 years after skidding by a tracked bulldozer, (b) the impact of natural alder regeneration on soil recovery, and (c) the contribution of alder fine-root development to the restoration of compacted soils in beech stands. Soil physical properties and fine root biomass were analyzed across three depth classes (0–10 cm, 10–20 cm, 20–30 cm) and five locations (left wheel track (LT), between wheel tracks (BT), right wheel track (RT)) all with alder trees, and additionally control points inside the trail without alder trees (CPWA), as well as outside control points with alder trees (CPA). Sampling points near alder trees (RT, LT, BT) were compared to CPWA and CPA. CPA had the lowest soil bulk density, followed by LT, BT, RT, and CPWA. Bulk density was highest (1.35 ± 0.07 g cm⁻³) at the 0–10 cm depth and lowest (1.08 ± 0.4 g cm⁻³) at 20–30 cm. The fine root biomass at 0–10 cm depth (0.23 ± 0.21 g dm⁻³) was significantly higher than at deeper levels. Skid trail sampling points showed higher fine root biomass than CPWA but lower than CPA, by several orders of magnitude. Alder tree growth significantly reduced soil bulk density, aiding soil recovery in the study area. However, achieving optimal conditions will require additional time. Full article

Pavement skid resistance is one of the most important factors affecting road safety, and pavement texture morphology significantly influences this property. Therefore, it is crucial to investigate the relationship between pavement texture and skid resistance. This article provides an overview of recent research advancements in key areas, including the anti-skid mechanisms of asphalt pavements, factors affecting pavement anti-skid performance, methods for characterising and evaluating pavement anti-skid performance, and the relationship between the macroscopic and microscopic texture of pavements and their anti-skid performance. Based on a comparative analysis of the intrinsic mechanical interactions between asphalt pavements and rubber tyres, it was determined that the surface texture characteristics of the asphalt pavement are the most critical factor influencing its anti-skid performance. These include both macroscopic and microscopic texture parameters, which, together with the service environment, collectively influence the pavement’s anti-skid performance. The existing texture characteristics, based on the anti-skid performance of asphalt pavements, as detected by various methods and evaluated using established models, are summarised here. Finally, this article discusses the relationship between texture characteristic parameters and asphalt pavement anti-skid performance from both macro- and microtexture perspectives. This synthesis serves as a valuable reference and basis for further research and development in enhancing asphalt pavement skid resistance. Full article

Winter pavement maintenance faces challenges in balancing large-scale upkeep and driving safety, particularly regarding the application of active slow-release materials. This study proposes a gel-modified salt-storing ceramsite asphalt mixture to enhance ice-melting capabilities through controlled salt release. By replacing a conventional coarse aggregate with salt-storing ceramsite in SMA-10 graded mixtures (0–80% content), we systematically evaluate its mechanical performance and de-icing functionality. The experimental results demonstrate that 40% salt-storing ceramsite content optimizes high-temperature stability while maintaining acceptable low-temperature performance and water resistance. Microstructural analysis reveals that silicone–acrylic emulsion forms a hydrophobic film on ceramsite surfaces, enabling uniform salt distribution and sustained release. The optimal 10% gel modification achieves effective salt retention and controlled release through pore-structure regulation. These findings establish a 40–60% salt-storing ceramsite content range as the practical range for winter pavement applications, offering insights into the design of durable snow-melting asphalt surfaces. Full article